| 基于ADAMS的柔性焊接机器人动力学仿真 |
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| 引用本文： | 彭礼辉,李 光,刘领化.基于ADAMS的柔性焊接机器人动力学仿真[J].湖南工业大学学报,2011,25(4):45-48. |
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| 作者姓名： | 彭礼辉 李 光 刘领化 |
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| 作者单位： | 湖南工业大学机械工程学院,湖南株洲,412007 |
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| 摘 要： | 在Pro/E中完成了焊接机器人的三维建模,然后导入ADAMS软件中,添加约束后建立了焊接机器人的虚拟样机模型。考虑到柔性构件对机器人系统运动性能的影响,构建了该机器人的刚柔耦合模型,并进行了动力学仿真。结果表明:柔性手臂构件对机械手的运动精度产生了较大影响。
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| 关 键 词： | 机械动力学 虚拟样机 刚柔耦合模型 |
| 收稿时间： | 2011/4/24 0:00:00 |
Dynamics Simulation of Flexible Welding Robot Based on ADAMS |
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| Peng Lihui,Li Guang and Liu Linghua.Dynamics Simulation of Flexible Welding Robot Based on ADAMS[J].Journal of Hnnnan University of Technology,2011,25(4):45-48. |
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| Authors: | Peng Lihui Li Guang and Liu Linghua |
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| Affiliation: | Peng Lihui,Li Guang,Liu Linghua(College of Mechanical Engineering,Hunan University of Technology,Zhuzhou Hunan 412007,China) |
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| Abstract: | Set up three-dimensional model of welding robot by Pro/E. Imported the model to the software of ADAMS, added constraints and established the virtual prototype model. Considering the influence of flexible components on the robot motion performance, constructed a rigid-flex coupling model of the welding robot and conducted dynamics simulation. The results show that flexible arm components have significant impact on the motion accuracy of manipulator. |
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| Keywords: | mechanical dynamics virtual prototype rigid-flex coupling model |
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